Model-based passivity control for bilateral teleoperation of a surgical robot with time delay

Kenji Kawashima, Kotaro Tadano, Ganesh Sankaranarayanan, Blake Hannaford

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. Latency in communication lines limits the transmission of vivid tactile sensations and drives the system unstable. In this paper, we propose a new model-based approach for the bilateral control of a telesurgical robot using time-domain passivity control. This method consists of a virtual slave model implemented at the master side to estimate the force on the slave side. During the operation, the estimated force from the virtual slave is added to the actual measured force transmitted from the slave in order to maintain the passivity of the system. Both simulation and experimental results confirm the performance of this new controller.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1427-1432
Number of pages6
DOIs
StatePublished - 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/TerritoryFrance
CityNice
Period9/22/089/26/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Model-based passivity control for bilateral teleoperation of a surgical robot with time delay'. Together they form a unique fingerprint.

Cite this